// canrecv.cpp
//
// Linux SoxketCAN reader example.
//
//
// --------------------------------------------------------------------------
// This file is part of the "sockpp" C++ socket library.
//
// Copyright (c) 2021-2023 Frank Pagliughi
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its
// contributors may be used to endorse or promote products derived from this
// software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
// THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// --------------------------------------------------------------------------

#include <net/if.h>
#include <sys/ioctl.h>

#include <chrono>
#include <iomanip>
#include <iostream>
#include <string>
#include <thread>

#include "sockpp/can_frame.h"
#include "sockpp/can_socket.h"
#include "sockpp/version.h"

using namespace std;

// The clock to use to get time and pace the app.
using sysclock = chrono::system_clock;

// --------------------------------------------------------------------------

int main(int argc, char* argv[]) {
    cout << "Sample SocketCAN reader for 'sockpp' " << sockpp::SOCKPP_VERSION << endl;

    string canIface = (argc > 1) ? argv[1] : "can0";
    canid_t canID = (argc > 2) ? atoi(argv[2]) : 0x20;

    sockpp::initialize();

    sockpp::can_address addr(canIface);
    sockpp::can_socket sock(addr);

    if (!sock) {
        cerr << "Error binding to the CAN interface '" << canIface << "'\n\t"
             << sock.last_error_str() << endl;
        return 1;
    }

    cout << "Created CAN socket on " << sock.address() << endl;
    cout.setf(ios::fixed, ios::floatfield);
    cout << setfill('0');

    while (true) {
        sockpp::can_frame frame;
        sock.recv(&frame);
        auto t = sock.last_frame_timestamp();

        cout << t << "  ";
        for (uint8_t i = 0; i < frame.can_dlc; ++i)
            cout << hex << uppercase << setw(2) << unsigned(frame.data[i]) << " ";
        cout << endl;
    }

    return (!sock) ? 1 : 0;
}
